Work machine provided with articulated robot and electric component mounting machine

1. A work machine comprising: a work head; an articulated robot that holds the work head and moves the work head with respect to a workpiece by rotating motors corresponding to control axes of the articulated robot, the workpiece being a circuit board on which a plurality of components are mounted; a control device that includes a target operation position determination unit which determines a target operation position of the articulated robot, and an operation command issuing unit which issues an operation command to the articulated robot, and that controls the articulated robot on the basis of the target operation position; and an imaging device that is attached to the work head, or the articulated robot in the vicinity of the work head, the imaging device including a lower camera which images at least part of the workpiece, and a side camera which images a reference matrix provided on the work machine, the reference matrix including a plurality of vertical lines and a plurality of horizontal lines intersecting each other, wherein the control device further includes a reference data holding unit that holds reference data which is data created on the basis of design data of the workpiece and which includes data items respectively indicating positions of a plurality of feature points of the workpiece corresponding to solder lands and components on the circuit board, and data items indicating positions of a plurality of feature points set for part of the work machine, the positions having the work space as a reference, and the feature points being intersections between the vertical lines and the horizontal lines of the reference matrix, a deviation detecting unit that detects a deviation between relative positions of the work head and the workpiece on the basis of imaging data obtained through imaging performed by the imaging device and the reference data, and a target operation position correction unit that corrects the target operation position of the control axes of the articulated robot on the basis of the deviation detected by the deviation detecting unit, wherein the deviation detecting unit specifies two feature points on the workpiece to be imaged at the time of the imaging performed by the imaging device among the plurality of feature points, extracts position data of the two feature points from the reference data based on the design data of the workpiece, detects a relative positional deviation based on the imaging data of the two feature points and the extracted position data of the two feature points, the relative positional deviation being a deviation in a three-dimensional orthogonal coordinate system which uses the extracted position data of the two feature points as a reference, and obtains a deviation regarding operation positions of the control axes of the robots based on the relative positional deviation.

2. The work machine according to claim 1 , wherein the control device further includes an imaging control unit that causes the imaging device to sequentially perform imaging during the movement of the work head, wherein the deviation detecting unit sequentially detects the deviation on the basis of imaging data obtained through the imaging which is sequentially performed by the imaging device, and the target operation position correcting unit sequentially corrects the target operation position on the basis of the deviation which is sequentially detected by the deviation detecting unit.

3. The work machine according to claim 1 , wherein the work head is an electric component holding head which detachably holds a supplied electric component, and the articulated robot moves the component holding head holding an electric component in order to mount the held electric component on a circuit board, so that the work machine functions as an electric component mounting machine.

4. The work machine according to claim 2 , wherein the work head is an electric component holding head which detachably holds a supplied electric component, and the articulated robot moves the component holding head holding an electric component in order to mount the held electric component on a circuit board, so that the work machine functions as an electric component mounting machine.

5. The work machine according to claim 1 , wherein the robot includes a shoulder which rotates about a first control axis in a horizontal plane with respect to a base of the robot, an upper arm which rotates about a second control axis with respect to the shoulder, a lower arm which rotates about a third control axis with respect to the upper arm, and a wrist which rotates about a fourth control axis with respect to the lower arm and to which the work head is fixed and held, wherein the shoulder, the upper arm, the lower arm, and the wrist are separately rotated by four respective motors corresponding to the four control axes, and wherein the second, third, and fourth control axes are each perpendicular to the first control axis.